# genesis-world: gravity compensation

Official genesis-world python main example for gravity compensation. Inspect the pinned source and upstream setup before use.

ID: `genesis-examples-examples-rigid-gravity-compensation-py`

Record version: `source-ecfe456fd3d76446481279e7e5e8bc2ca98f02d05907c26cdf4c3572e65aa67f`

Hub commit: `f97266a5cdd2c600cd376397a54892f08290df20`

## Access

Fetch the pinned repository, verify this source checksum, and use upstream installation and invocation. This record does not install or execute code.

Optional inert file retrieval: `python /PATH_TO_SKILL/scripts/rsh.py fetch-source genesis-examples-examples-rigid-gravity-compensation-py --expected-source-revision a5c4e9a73aca221fa26e611281f2696c5f8b0ca8 --expected-source-sha256 ecfe456fd3d76446481279e7e5e8bc2ca98f02d05907c26cdf4c3572e65aa67f --project ./experiment --json`. This verifies one file, preserves provenance and never installs or runs it. See [source-file retrieval](https://hub.superfastrobotics.com/source-files.md).

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/Genesis-Embodied-AI/genesis-world/blob/a5c4e9a73aca221fa26e611281f2696c5f8b0ca8/README.md

## Source and license

- Repository: https://github.com/Genesis-Embodied-AI/genesis-world
- Pinned source: https://github.com/Genesis-Embodied-AI/genesis-world/blob/a5c4e9a73aca221fa26e611281f2696c5f8b0ca8/examples/rigid/gravity_compensation.py
- Revision: `a5c4e9a73aca221fa26e611281f2696c5f8b0ca8`
- Path: `examples/rigid/gravity_compensation.py`
- Source SHA256: `ecfe456fd3d76446481279e7e5e8bc2ca98f02d05907c26cdf4c3572e65aa67f`
- Source bytes: 1343
- Original authors: See pinned upstream source and license notices.
- License: [Apache-2.0](https://github.com/Genesis-Embodied-AI/genesis-world/blob/a5c4e9a73aca221fa26e611281f2696c5f8b0ca8/LICENSE)
- License scope: Repository-root code terms only; file headers, third-party code, models, weights, assets and datasets require separate review.

License SHA256: `43070e2d4e532684de521b885f385d0841030efa2b1a20bafb76133a5e1379c1`

## Requirements

```json
{
  "python": "Inspect the pinned upstream package metadata for the supported Python version.",
  "packages": [],
  "display": "Upstream simulator, robot model, build, display and device requirements; inspect the selected source.",
  "execution_domain": "simulation-or-hardware",
  "source_imports": [
    "argparse",
    "genesis"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "python examples/rigid/gravity_compensation.py",
  "notes": "Source reference only. Install the pinned upstream project and its stated dependencies explicitly. Robot bridges may actuate hardware; no hardware execution is established. Asset, model, SDK and data terms remain separate."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Fetched and SHA-256 checked this immutable source; statically parsed Python or located native main; verified pinned license bytes and checked explicit per-file license identifiers. No upstream code executed.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.